CN109381216B - Motion control device and method for patient moving bed board and computer program - Google Patents
Motion control device and method for patient moving bed board and computer program Download PDFInfo
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- CN109381216B CN109381216B CN201710670806.5A CN201710670806A CN109381216B CN 109381216 B CN109381216 B CN 109381216B CN 201710670806 A CN201710670806 A CN 201710670806A CN 109381216 B CN109381216 B CN 109381216B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0487—Motor-assisted positioning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
- A61B5/704—Tables
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/54—Control of apparatus or devices for radiation diagnosis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/58—Testing, adjusting or calibrating apparatus or devices for radiation diagnosis
- A61B6/589—Setting distance between source unit and patient
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a motion control device and method of a patient moving bed board and a computer program, wherein the method comprises the following steps: the initial value of the incremental encoder is given to the initial value of the incremental encoder when the patient moves the bed plate from the initial position. The initial position value is obtained by correcting the error of the position absolute value read out by the absolute value encoder at the initial position according to a pre-stored error curve. The error curve is a curve of the position change of the difference value of the position absolute value relative to the corresponding displacement increment value, and comprises a start displacement section, a middle displacement section and an end displacement section which are sequentially continuous; in the initial displacement section and the final displacement section, the difference is larger than 0; in the intermediate displacement section; the difference is less than or equal to 0.
Description
Technical Field
The present invention relates to the field of medical detection, and more particularly, to a motion control apparatus and method for a patient moving couch, and a computer program for executing the method.
Background
In medical detection systems such as magnetic resonance and computed tomography, a patient is usually carried by a patient table, which is provided with a movable couch board that can be moved in and out of a scanning cavity for positioning the patient to a position to be scanned or for moving as required during scanning. In order to obtain high quality scan images, precise motion control of the patient moving couch is necessary. In the prior art, the patient moving couch may be driven to move between the start point and the end point by a driving motor based on an encoder, and the position calibration may be performed by using position feedback of another encoder as a reference position, for example, in order to have higher motion control accuracy, the patient moving couch may be driven based on an absolute value encoder, and the position calibration may be performed by using an incremental value encoder.
The incremental encoder can only feed back displacement increment, so when the patient moving bed board is started at any point, the incremental encoder needs to be preset with an initial value according to the current position when the incremental encoder is powered on again, so that the absolute position of the patient moving bed board can be accurately acquired later.
However, in practice, the readout values of the absolute value encoder have different differences at different movement positions of the patient moving couch plate with respect to the position values fed back by the corresponding incremental encoder, which differences form an error curve, and in performing the position calibration, two-point correction is generally performed, i.e., the position values output by the absolute value encoder and the incremental encoder at both end points of the moving couch plate stroke are made equal, so that the error curve formed is an arcuate shape with overlapping both ends and a concave middle. Also, when the patient moving couch is activated at different starting points, the error curve is different, e.g., when the patient moving couch moves from different starting points to one and the same specific position, the readout of the absolute value encoder at that specific position may be different, such that its error relative to the corresponding incremental encoder is also different.
Because the absolute value encoder has different error curves corresponding to different starting positions, so that the absolute value encoder has a plurality of errors with different magnitudes at the same position, when the incremental encoder is calibrated by the read-out value of the absolute value encoder, a larger fault tolerance rate needs to be set to tolerate all the errors as much as possible, so that the calibration precision and the motion control precision are lower, the image quality can be influenced, and even the true systematic error of missed detection is caused; if the fault tolerance is reduced, unnecessary system alarms are possibly caused by errors exceeding the fault tolerance range, and normal operation of the scanning flow is affected.
Therefore, how to improve the accurate motion control of the patient moving bed board and improve the position calibration accuracy is a problem to be solved in the field.
Disclosure of Invention
An object of the present invention is to provide a new motion control method for a patient moving couch board that improves motion control accuracy and position calibration accuracy.
An exemplary embodiment of the present invention provides a motion control method of a patient moving couch board, which is connected with a moving driving device and a position calibration device, wherein the moving driving device is used for driving the patient moving couch board to perform linear motion, the moving driving device comprises an absolute value encoder for outputting an absolute value of a position, and the position calibration device comprises an incremental encoder for outputting an incremental value of a displacement. The motion control method of the patient moving bed board comprises the following steps:
the initial value of the incremental encoder is given to the initial value of the incremental encoder when the patient moves the bed plate from the initial position. The initial position value is obtained by correcting the error of the position absolute value read out by the absolute value encoder at the initial position according to a pre-stored error curve. The error curve is a curve of the position change of the difference value of the position absolute value relative to the corresponding displacement increment value, and comprises a start displacement section, a middle displacement section and an end displacement section which are sequentially continuous; in the initial displacement section and the final displacement section, the difference is larger than 0; in the intermediate displacement section; the difference is less than or equal to 0.
The exemplary embodiments of the present invention also provide a computer program which, when run in a medical detection system, causes the medical detection system to perform the above-described method.
The exemplary embodiment of the invention also provides a motion control device of the patient moving bed board, which comprises a starting value setting module and an error curve storage module. The error curve storage module is used for storing the error curve. The initial value setting module is used for: and giving a starting position value to the incremental encoder so that an initial value of the incremental encoder is the starting position value when the patient moves the bed board from the starting position, wherein the starting position value is obtained by correcting the position absolute value read out by the absolute value encoder at the starting position according to the error curve.
Other features and aspects will become apparent from the following detailed description, the accompanying drawings, and the claims.
Drawings
The invention may be better understood by describing exemplary embodiments thereof in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic view showing a connection structure of a patient moving couch board and a moving drive and a position calibration apparatus thereof according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of motion control of a patient moving couch plate according to an embodiment of the invention;
FIG. 3 shows an error curve for one embodiment of the present invention;
fig. 4 is a block diagram of a motion control device for a patient moving couch of an embodiment of the present invention.
Detailed Description
In the following, specific embodiments of the present invention will be described, and it should be noted that in the course of the detailed description of these embodiments, it is not possible in the present specification to describe all features of an actual embodiment in detail for the sake of brevity. It should be appreciated that in the actual implementation of any of the implementations, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Unless defined otherwise, technical or scientific terms used in the claims and specification should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. The terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are immediately preceding the word "comprising" or "comprising", are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, nor to direct or indirect connections.
Fig. 1 shows a schematic diagram of a patient moving couch 100, a movement drive 110 and a position calibration apparatus 120 according to an embodiment of the present invention. The patient moving bed board 100 may be a bed board disposed on a patient carrying bed (not shown in the figure), when a patient is subjected to medical examination, the patient is carried on the surface of the patient moving bed board 100, a support base for supporting the bed board is generally disposed below the patient moving bed board 100, and a lifting mechanism, a driving mechanism and the like may be disposed on the support base to realize movement of the patient moving bed board 100 in a horizontal or vertical direction.
As shown in fig. 1, specifically, the patient moving couch 100 is connected with a moving driving device 110 and a position calibration device 120, wherein the moving driving device 110 is used for driving the patient moving couch 100 to perform linear motion, and the moving driving device 110 includes an incremental encoder capable of outputting an incremental displacement value. The position calibration device 120 includes an absolute value encoder capable of outputting an absolute value of a position. For example, when the patient moving couch 100 moves from an initial position to a particular position relative to a stationary component of the patient support couch (e.g., the support base), the absolute encoder readout directly indicates the particular position, and the incremental encoder readout indicates the displacement increment from the initial position to the particular position.
Fig. 2 is a flow chart of a method of controlling movement of a patient moving couch of an embodiment of the present invention, and fig. 3 shows an error curve of an embodiment of the present invention. The motion control method of the patient moving couch board can precisely control the motion of the patient moving couch board 100 shown in fig. 1 by using the error curve in fig. 3.
As shown in fig. 2, the method includes step S23: the incremental encoder start position value is assigned such that the initial value of the incremental encoder when the patient moving couch 100 starts to move from the start position (i.e., the position where the patient moving couch 100 was at when the patient moving couch 100 started to move from zero, or the position where the patient moving couch 100 was at when the incremental encoder was powered up again) is the start position value. Here, the starting position of the patient moving couch 100 may be any position within its range of travel, such as a start point, an end point, or an intermediate position between start and end points within the range of travel.
The initial position value is obtained by correcting the position absolute value read out by the absolute value encoder at the initial position according to a pre-stored error curve.
As shown in fig. 3, the above-mentioned error curve is a curve in which the difference of the absolute value of the position with respect to the corresponding incremental value of the displacement varies with the position (specifically, the variation of the position described by the readout value of the incremental encoder), and may specifically include a start displacement section 31, an intermediate displacement section 33, and an end displacement section 35 that are successive in this order; at the start displacement section 31 and the end displacement section 35, the error value of the position absolute value is greater than 0, i.e. the position absolute value is greater than the corresponding displacement increment value; at the intermediate displacement section 33, the error value of the position absolute value is less than or equal to 0, i.e. the position absolute value is less than or equal to the corresponding displacement increment value.
In this embodiment, the error correction of the absolute value of the position read out by the absolute value encoder at the start position may be performed according to the error curve, so as to implement the error correction of the absolute value of the position. For example, when the error value is greater than 0, the compensation may be performed by subtracting the error from the actual readout value, and when the error is less than 0, the compensation may be performed by adding the absolute value of the error to the actual readout value, although the actual readout value of the absolute value encoder may be compensated by other suitable operations through the error values described in the error curve, so that the incremental encoder obtains a more accurate starting position value.
Further, in the error curve, as the displacement of the patient moving couch 100 becomes larger, the difference between the position absolute value and the corresponding displacement increment value gradually decreases from the first maximum value at the initial displacement section 31, the difference between the position absolute value and the corresponding displacement increment value gradually increases from zero to the second maximum value at the intermediate displacement section 33, and then gradually decreases, and the difference between the position absolute value and the corresponding displacement increment value gradually increases from zero to the third maximum value at the end displacement section 35.
More specifically, as shown in fig. 3, the error curve includes a straight line segment portion and an arc curve portion, wherein the straight line segment portion represents the position of the patient moving couch plate 100 (specifically, the position described by the readout value of the incremental encoder), two end points of the straight line segment portion represent the start point and the end point of the travel range of the patient moving couch plate 100, respectively, the start point of the start displacement segment 31 is the start point of the travel range, and the end point of the end displacement segment 35 is the end point of the travel range. The arcuate curve portion represents the error of the absolute value of the position relative to the corresponding displacement increment value, i.e., the above-described difference, and the arcuate curve portion and the straight line segment portion intersect at both ends of the intermediate displacement segment 33 to form an arcuate structure.
Optionally, an embodiment of the present invention may further include a step of determining an error curve of the absolute value of the position with respect to the displacement increment value, comprising:
a first step of: driving the patient moving bed board 100 to move from a starting position to a plurality of preset positions respectively for a plurality of times, and recording the position absolute value output by the absolute value encoder at each preset position;
and a second step of: driving the patient moving bed board 100 to move from the initial position according to preset displacement increment and pass through the preset positions, and respectively reading the displacement increment values output by the incremental encoder at the preset positions;
and a third step of: calculating the difference value between the absolute value of the position and the displacement increment value at each preset position; and forming a mapping relation between the displacement increment value read in the second step and the difference value;
fourth step: the first step to the third step are repeated for a plurality of times to obtain a plurality of groups of mapping relations, wherein the initial positions in the plurality of times are different;
fifth step: forming a plurality of corresponding relation curves according to the plurality of groups of mapping relations;
sixth step: and selecting a relation curve with the highest calibration precision from the relation curves as the error curve.
Specifically, in the fifth step, the corresponding relationship curve may be formed by performing interpolation processing on each set of mapping relationships.
In the sixth step, the root mean square of all differences or the peak value of the differences (the difference having the largest absolute value) of each set of mapping relationships or corresponding relationship curves may be calculated, and the relationship curve having the smallest root mean square of differences or the smallest peak value of differences may be selected as the error curve.
Embodiments of the present invention may also provide a computer program which, when run in a medical detection system, causes the medical detection system to perform the motion control method of any of the above embodiments. The medical detection system may be, for example, a computed tomography detection system.
Fig. 4 shows a block diagram of a motion control apparatus for a patient moving couch 100 provided in one embodiment of the invention, as shown in fig. 4, which may be provided in a medical detection system and used to perform the motion control method of the patient moving couch shown in fig. 2. The motion control device of the patient moving bed board works in a similar manner to the description of the motion control method of the patient moving bed board. Specifically, the motion control device of the patient moving bed board comprises a start value setting module 41 and an error curve storage module 43;
the error curve storage module 43 is used for storing the error curve, and the start value setting module 41 is used for: the initial value of the incremental encoder is given to the initial value of the incremental encoder when the patient moving bed 100 starts to move from the initial position, which is obtained by correcting the position absolute value read out from the initial position by the absolute value encoder according to the error curve.
The error correction may be, for example, error compensation of the position absolute value read out by the absolute value encoder at the start position according to the error curve.
According to the invention, the error curve is selected for storage and the initialization of any initial position of the incremental encoder is carried out according to the error curve, on one hand, the error curve floats in a positive range and a negative range, the absolute value of the error value is smaller, and compared with the prior art, the error curve can cover the maximum error by only setting a smaller fault tolerance, thereby not only improving the calibration precision of the position encoder, but also avoiding the alarm caused by the error exceeding the fault tolerance range. On the other hand, the present invention normalizes the error curve corresponding to the different start positions to such an error curve as described above, and regardless of the start position from which the patient moving couch 100 is restarted, the start position is defaulted to the start position corresponding to the error curve by initializing the incremental encoder, and since the error curve has a track shape similar to the error curve at each start position and the absolute value of the error moves in a small range, the position calibration accuracy is high, and the movement of the moving couch can be precisely controlled.
In a specific disease treatment application requiring precise control, if the initialization mode of the prior art is adopted, the inconsistency of the readout value before the power-down of the incremental encoder and the readout value during the re-power-up at the same position may occur, and the difference between the two positions may exceed a threshold, so as to cause false alarm, and influence the judgment and treatment of the disease by a doctor; after the normalization mode of the invention is adopted, the initial position value given by the absolute value encoder when initializing the incremental encoder at the same position is basically consistent with the position value before powering down the incremental encoder.
Some exemplary embodiments have been described above, however, it should be understood that various modifications may be made. For example, suitable results may be achieved if the described techniques were performed in a different order and/or if components in the described systems, architectures, devices or circuits were combined in a different manner and/or replaced or supplemented by additional components or equivalents thereof. Accordingly, other embodiments are within the scope of the following claims.
Claims (11)
1. The motion control method of the patient moving bed board is characterized in that the patient moving bed board is connected with a moving driving device and a position calibration device, the moving driving device is used for driving the patient moving bed board to perform linear motion, the moving driving device comprises an incremental encoder for outputting a displacement incremental value, and the position calibration device comprises an absolute value encoder for outputting an absolute value of a position; the motion control method of the patient moving bed board comprises the following steps:
giving the initial position value of the incremental encoder so that the initial value of the incremental encoder is the initial position value when the patient moving bed board starts to move from the initial position;
the initial position value is obtained by performing error correction on the position absolute value read out by the absolute value encoder at the initial position according to a pre-stored error curve; the error curve is a curve of which the difference value of the absolute value of the position relative to the corresponding displacement increment value changes along with the position, and the error curve comprises a start displacement section, a middle displacement section and an end displacement section which are sequentially continuous; in the initial displacement section and the final displacement section, the difference value is larger than 0; in the intermediate displacement section, the difference is less than or equal to 0.
2. The method of motion control of a patient moving couch of claim 1, wherein the difference gradually decreases from a first maximum value in the initial displacement section, gradually increases from zero to a second maximum value in the intermediate displacement section, and gradually decreases from zero to a third maximum value in the final displacement section as the displacement of the patient moving couch increases.
3. The motion control method of a patient moving couch plate according to claim 2, wherein the error curve includes a straight line segment portion and an arc curve portion, wherein the straight line segment portion represents a position of the patient moving couch plate, two end points of the straight line segment portion represent a start point and an end point of a travel range of the patient moving couch plate, respectively, the start point of the start displacement segment is the start point of the travel range, the end point of the end displacement segment is the end point of the travel range, the arc curve portion represents the difference value, and the arc curve portion and the straight line segment portion intersect at both ends of the intermediate displacement segment to form an arch structure.
4. The method of motion control of a patient moving couch of claim 1 further comprising the step of determining an error curve of the absolute value of the position relative to the incremental value of the displacement, comprising:
a first step of: driving the patient moving bed board to move from a starting position to a plurality of preset positions for a plurality of times, and recording the position absolute value output by the absolute value encoder at each preset position;
and a second step of: driving the patient moving bed board to move from the initial position according to preset displacement increment and pass through the preset positions, and respectively reading the displacement increment values output by the increment encoders at the preset positions;
and a third step of: calculating the difference value between the absolute value of the position and the displacement increment value at each preset position, and forming a mapping relation between the displacement increment value read in the second step and the difference value;
fourth step: the first step to the third step are repeated for a plurality of times to obtain a plurality of groups of mapping relations, wherein the initial positions in the plurality of times are different;
fifth step: forming a plurality of corresponding relation curves according to the plurality of groups of mapping relations;
sixth step: and selecting a relation curve with the highest calibration precision from the relation curves as the error curve.
5. The method for controlling the movement of the patient moving bed according to claim 4, wherein in the fifth step, the corresponding relation curve is formed by interpolating each set of mapping relations.
6. The method of motion control of a patient moving couch of claim 4, wherein in the seventh step, a root mean square or a peak of differences for all differences of each set of mapping relationships or corresponding relationship curves is calculated and a relationship curve having a smallest root mean square or a smallest peak of differences is selected as the error curve.
7. The method of motion control of a patient moving couch of claim 1, wherein error correcting the absolute value of the position read by the absolute value encoder at the start position according to a pre-stored error curve comprises:
and performing error compensation on the position absolute value read out by the absolute value encoder at the starting position according to the error curve.
8. A medium storing a computer program which, when run in a medical detection system, causes the medical detection system to perform the method of motion control of a patient moving couch of any one of claims 1 to 7.
9. A motion control device of a patient moving bed board, wherein the patient moving bed board is connected with a moving driving device and a position calibration device, the moving driving device is used for driving the patient moving bed board to perform linear motion, the moving driving device comprises an increment encoder for outputting a displacement increment value, and the position calibration device comprises an absolute value encoder for outputting an absolute value of a position;
the motion control device of the patient movable bed board comprises a starting value setting module and an error curve storage module;
the error curve storage module is used for storing an error curve, wherein the error curve is a curve of which the difference value of the position absolute value relative to the corresponding displacement increment value changes along with the position, and the error curve comprises a start displacement section, a middle displacement section and an end displacement section which are continuous in sequence; in the initial displacement section and the final displacement section, the difference value is larger than 0; in the intermediate displacement section, the difference is less than or equal to 0;
the start value setting module is used for: and giving a starting position value to the incremental encoder, wherein the initial value of the incremental encoder is the starting position value when the patient moving bed board starts to move from the starting position, and the starting position value is obtained by correcting errors of the position absolute value read out by the absolute value encoder at the starting position according to the error curve.
10. The motion control device of a patient moving couch of claim 9, wherein the difference gradually decreases from a first maximum value in the initial displacement section, gradually increases from zero to a second maximum value in the intermediate displacement section, and gradually decreases from zero to a third maximum value in the final displacement section as the displacement of the patient moving couch increases.
11. The motion control device of the patient moving couch plate according to claim 10, wherein the error curve includes a straight line segment portion and an arc curve portion, wherein the straight line segment portion represents a position of the patient moving couch plate, two end points of the straight line segment portion represent a start point and an end point of a travel range of the patient moving couch plate, respectively, the start point of the start displacement segment is the start point of the travel range, the end point of the end displacement segment is the end point of the travel range, the arc curve portion represents the difference value, and the arc curve portion and the straight line segment portion intersect at both ends of the intermediate displacement segment to form an arch structure.
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| CN111956252A (en) * | 2020-08-13 | 2020-11-20 | 北京万东医疗科技股份有限公司 | CT support bed board motion control method and device and CT equipment |
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